Application of a multi-input backstepping design with second order sliding modes to control mechanical systems with flexibility

Author

Ferrara, Antonella ; Giacomini, Luisa

Author_Institution

Dept. of Commun., Comput. & Syst. Sci., Univ. of Genova, Italy

Volume

3

fYear

1998

fDate

1998

Firstpage

2409

Abstract

In this note, a robust control algorithm for nonlinear multi-input uncertain systems is presented. It applies to the class of systems transformable by a diffeomorphic map into the so-called parametric-pure feedback form. A tracking control objective is attained via the combination of the well-known backstepping design and the MIMO extension of a recently developed second-order sliding-mode strategy

Keywords

MIMO systems; control system synthesis; feedback; multivariable control systems; nonlinear control systems; robust control; uncertain systems; variable structure systems; MIMO extension; diffeomorphic map; mechanical systems; multi-input backstepping design; nonlinear multi-input uncertain systems; parametric-pure feedback form; robust control algorithm; second-order sliding modes; tracking control; Backstepping; Communication system control; Control systems; Feedback; Mechanical systems; Mechanical variables control; Nonlinear equations; Sliding mode control; Uncertain systems; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on

Conference_Location

Tampa, FL

ISSN

0191-2216

Print_ISBN

0-7803-4394-8

Type

conf

DOI

10.1109/CDC.1998.757767

Filename

757767